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    • 8. 发明公开
    • METHOD OF CONTROLLING WALKING POSTURE OF BIPED ROBOT AND DEVICE
    • 控制双臂机器人和装置的步行姿势的方法
    • EP3299923A1
    • 2018-03-28
    • EP16869774.6
    • 2016-09-05
    • Goertek Inc.
    • SU, Pengcheng
    • G05D1/02
    • G05D1/021B25J5/00B62D57/032
    • Disclosed are a method and a device for controlling a gait of a biped robot. The method comprising: selecting gait controlling parameters in a step starting phase, a mid-step phase and a step ending phase, and acquiring a movement trajectory of a center of mass in the mid-step phase when a zero moment point of the biped robot is located within a steady area; obtaining first numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase starts and second numerical values of the center of mass when the mid-step phase ends; setting a first constraint condition when the step starting phase ends by using the first numerical values, and setting a second constraint condition when the step ending phase starts by using the second numerical values; calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively; and controlling a walking of the biped robot, so that in walking the movement trajectory of the center of mass satisfies each of the movement trajectories of the center of mass in the step starting phase, the mid-step phase and the step ending phase.
    • 公开了用于控制两足机器人的步态的方法和设备。 该方法包括步骤:在步骤开始阶段,中间阶段阶段和步骤结束阶段中选择步态控制参数,并且当两足步行机器人的零力矩点处于中阶段阶段时获取质心的移动轨迹 位于稳定区域内; 获得中阶段阶段开始时的质心的每个步态控制参数的第一数值和中阶段阶段结束时的质心的第二数值; 当通过使用所述第一数值结束所述步骤开始阶段时设定第一约束条件,并且在通过使用所述第二数值开始所述阶段结束阶段时设定第二约束条件; 分别基于第一约束条件和第二约束条件计算步骤开始阶段和步骤结束阶段中质心的移动轨迹; 并控制两足步行机器人的步行,从而在步行中,质心的移动轨迹满足阶跃开始阶段,中间阶段阶段和阶段结束阶段中的质心的每个移动轨迹。
    • 9. 发明公开
    • METHOD FOR PREPARING SILICA GEL DIAPHRAGM, AND SILICA GEL DIAPHRAGM
    • 制备硅凝胶隔膜的方法和硅凝胶隔膜
    • EP3285503A1
    • 2018-02-21
    • EP15889072.3
    • 2015-12-18
    • Goertek Inc.
    • GUO, XiaodongWANG, Wenhai
    • H04R31/00H04R7/00
    • The present disclosure discloses a silica gel vibrating diaphragm and a method for fabricating the same. The method comprises: forming a composite material belt by using two layers of a base material and liquid silica gel in a calendering manner, wherein the liquid silica gel is between the two layers of the base material; wholly hot-press molding the composite material belt by a vibrating diaphragm die holder, a temperature of the hot-press molding being higher than a vulcanization temperature of the liquid silica gel; removing the two layers of the base material to obtain a whole sheet of silica gel vibrating diaphragm; and blanking the whole sheet of silica gel vibrating diaphragm that has been removed of the two layers of the base material to fabricate a required silica gel vibrating diaphragm. As compared with conventional solutions, the technical solution of the present disclosure has the advantages of simple molding manner, low cost, various styles of the vibrating diaphragm, and small thickness of the vibrating diaphragm.
    • 本发明公开了一种硅胶振膜及其制造方法。 该方法包括:以压延方式使用两层基材和液体硅胶形成复合材料带,其中液体硅胶位于两层基材之间; 通过振动膜片模座整体热压模制复合材料带,热压模制的温度高于液体硅胶的硫化温度; 去除两层基材,得到一整片硅胶振膜; 然后将已剥离两层基材的整片硅胶振动膜片冲裁成所需的硅胶振膜。 与传统方案相比,本发明的技术方案具有成型方式简单,成本低廉,振动膜片种类多,振动膜片厚度薄的优点。